#!/usr/bin/env python3
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# Revision $Id$

"""
Provide geographic information maps from Open Street Map on request.

This is just a toy node, useful for testing.
"""


import rospy

from geographic_msgs.srv import GetGeographicMap
from geographic_msgs.srv import GetGeographicMapResponse

from osm_cartography import xml_map


class ServerNode:
    def __init__(self):
        rospy.init_node("osm_server")
        self.srv = rospy.Service(
            "get_geographic_map", GetGeographicMap, self.map_server
        )
        self.resp = None

    def map_server(self, req):
        """GetGeographicMap service callback.

        :param req: Request.
        :returns: Response.
        """
        url = str(req.url)
        self.url = url
        rospy.loginfo("[get_geographic_map] " + url)

        # if empty URL, return existing map
        if url == "" and self.resp is not None:
            return self.resp

        self.resp = GetGeographicMapResponse()
        try:
            self.resp.map = xml_map.get_osm(url, req.bounds)
        except (OSError, ValueError) as e:
            rospy.logerr(str(e))
            self.resp.success = False
            self.resp.status = str(e)
        else:
            self.resp.success = True
            self.resp.status = url
            self.resp.map.header.stamp = rospy.Time()
            self.resp.map.header.frame_id = "/map"
        return self.resp

    def run(self):
        rospy.spin()


if __name__ == "__main__":
    server = ServerNode()
    try:
        server.run()
    except rospy.ROSInterruptException:
        pass
